version: 66.04
glider: 152
mission: 2
dive: 17
start: 9 18 109 11 30 37
data:
$ID,152
$MISSION,2
$DIVE,17
$D_SURF,3
$D_FLARE,3
$D_TGT,150
$D_ABORT,1050
$D_NO_BLEED,200
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,70
$T_MISSION,100
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$T_NO_W,120
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0276
$MASS,51523
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4808
$TGT_DEFAULT_LON,-12223
$TGT_AUTO_DEFAULT,0
$SM_CC,400
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-13770.665
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,446
$PITCH_MAX,3720
$C_PITCH,2920
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,12
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,242
$ROLL_MAX,3915
$ROLL_DEG,40
$C_ROLL_DIVE,1950
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$R_STBD_OVSHOOT,53
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,540
$VBD_MAX,3950
$C_VBD,3210
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,91.800003
$AH0_10V,100
$PHONE_SUPPLY,2
$PRESSURE_YINT,-87.183395
$PRESSURE_SLOPE,0.0001162351
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,80
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,2
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.69999999
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,83
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043139826
$SEABIRD_T_H,0.00063131854
$SEABIRD_T_I,2.3268194e-05
$SEABIRD_T_J,2.3261061e-06
$SEABIRD_C_G,-10.052959
$SEABIRD_C_H,1.1241329
$SEABIRD_C_I,-0.00057783123
$SEABIRD_C_J,0.00013255829
$GPS1,112050,4806.857,-12222.860,9,1.9,9,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.57
$_SM_ANGLEo,-70.6
$GPS2,112946,4806.889,-12222.875,14,2.1,33,18.3
$SPEED_LIMITS,0.124,0.259
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.011,0.123
$KALMAN_X,-1261.6,-266.3,-11.2,404.3,-186.7
$KALMAN_Y,111.5,763.0,526.2,-113.3,-182.6
$MHEAD_RNG_PITCHd_Wd,346.6,258,-26.7,-7.143
$D_GRID,150
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad
$STATE,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,23,-2.27,-38.1,0.0,0.0,0,31,0.00,0.00,-6.25,0.000,2,0.000,0.000,436,1966,1696
$GC,38,-2.34,-95.0,3.5,-0.0,1,140,10.90,2.28,-83.00,0.000,4,0.168,0.054,2404,3342,3598
$GC,388,-2.34,-95.0,40.3,-14.1,73,394,0.00,2.30,0.00,0.000,6,0.000,0.032,2404,1945,3599
$GC,530,-2.34,-95.0,62.0,-15.6,98,537,0.00,2.35,0.00,0.000,4,0.000,0.039,2404,3332,3599
$GC,587,-2.34,-95.0,70.7,-16.3,109,593,0.00,2.28,0.00,0.000,6,0.000,0.032,2404,1948,3600
$STATE,644,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,645,begin apogee
$GC,657,-0.42,0.0,80.2,16.1,119,741,2.08,0.00,76.32,0.792,6,0.123,0.000,2825,1949,3210
$STATE,742,end apogee,CONTROL_FINISHED_OK
$STATE,742,begin climb
$GC,747,2.34,95.0,84.7,0.0,133,833,2.65,2.53,76.28,0.769,4,0.057,0.044,3434,3380,2822
$GC,898,2.34,95.0,65.6,19.0,159,904,0.00,2.33,0.00,0.000,6,0.000,0.039,3434,2008,2820
$GC,1042,2.34,95.0,37.1,18.4,184,1049,0.00,0.00,0.00,0.000,6,0.000,0.000,3434,2008,2820
$GC,1119,2.34,95.0,23.8,16.6,197,1126,0.00,2.35,0.00,0.000,4,0.000,0.043,3434,3375,2820
$GC,1191,2.34,95.0,12.5,15.3,212,1198,0.00,2.35,0.00,0.000,6,0.000,0.041,3434,2004,2820
$GC,1268,2.41,145.1,7.0,0.8,225,1316,0.00,2.35,40.55,0.746,4,0.000,0.041,3434,3385,2619
$STATE,1488,end climb,NO_VERTICAL_VELOCITY
$STATE,1488,begin surface
$SM_CCo,1495,257.10,0.703,3,0,539,654.95
$SM_GC,2.97,12.80,0.00,0.00,0.035,0.000,0.000,440,1940,535,-11.33,-0.28,655.93
$IRIDIUM_FIX,4748.51,-12217.40,131298,101037
$TT8_MAMPS,0.021476
$HUMID,2123
$INTERNAL_PRESSURE,9.33314
$TCM_TEMP,16.50
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,80.2,7.5
$24V_AH,23.5,2.726
$10V_AH,10.8,1.248
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,28.425,23.600,193.150,257.100,0.000,22.273,26.692,277.525,1.000,0.000,0.000,35.475,417.900,245.415,504.906,693.715,569.669,33.306,814.475,0.000,674.594,0.000,5.743,0.000
$DEVICE_MAMPS,167.973,53.690,791.544,702.572,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,183.702,153.563,529.339,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12817,272
$CAP_FILE_SIZE,32926,0
$CFSIZE,260165632,237379584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,180909,120322,4806.988,-12222.849,7,99.0,26,18.3